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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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6
src/geometry/broad_phase_multi_sap/broad_phase.rs
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@@ -622,7 +622,7 @@ impl BroadPhase {
#[cfg(test)]
mod test {
use crate::dynamics::{IslandManager, JointSet, RigidBodyBuilder, RigidBodySet};
use crate::dynamics::{IslandManager, ImpulseJointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
#[test]
@@ -630,7 +630,7 @@ mod test {
let mut broad_phase = BroadPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_dynamic().build();
@@ -641,7 +641,7 @@ mod test {
let mut events = Vec::new();
broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
bodies.remove(hrb, &mut islands, &mut colliders, &mut joints);
bodies.remove(hrb, &mut islands, &mut colliders, &mut impulse_joints);
broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
// Create another body.

55
src/geometry/contact_pair.rs
View File

@@ -35,8 +35,6 @@ pub struct ContactData {
/// collider's rigid-body.
#[cfg(feature = "dim3")]
pub tangent_impulse: na::Vector2<Real>,
/// The target velocity correction at the contact point.
pub rhs: Real,
}
impl Default for ContactData {
@@ -44,7 +42,6 @@ impl Default for ContactData {
Self {
impulse: 0.0,
tangent_impulse: na::zero(),
rhs: 0.0,
}
}
}
@@ -119,12 +116,9 @@ pub struct ContactManifoldData {
pub rigid_body1: Option<RigidBodyHandle>,
/// The second rigid-body involved in this contact manifold.
pub rigid_body2: Option<RigidBodyHandle>,
pub(crate) warmstart_multiplier: Real,
// The two following are set by the constraints solver.
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub(crate) constraint_index: usize,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub(crate) position_constraint_index: usize,
// We put the following fields here to avoids reading the colliders inside of the
// contact preparation method.
/// Flags used to control some aspects of the constraints solver for this contact manifold.
@@ -177,26 +171,15 @@ pub struct SolverContact {
/// This is set to zero by default. Set to a non-zero value to
/// simulate, e.g., conveyor belts.
pub tangent_velocity: Vector<Real>,
/// The warmstart impulse, along the contact normal, applied by this contact to the first collider's rigid-body.
pub warmstart_impulse: Real,
/// The warmstart friction impulse along the vector orthonormal to the contact normal, applied to the first
/// collider's rigid-body.
#[cfg(feature = "dim2")]
pub warmstart_tangent_impulse: Real,
/// The warmstart friction impulses along the basis orthonormal to the contact normal, applied to the first
/// collider's rigid-body.
#[cfg(feature = "dim3")]
pub warmstart_tangent_impulse: na::Vector2<Real>,
/// The last velocity correction targeted by this contact.
pub prev_rhs: Real,
/// Whether or not this contact existed during the last timestep.
pub is_new: bool,
}
impl SolverContact {
/// Should we treat this contact as a bouncy contact?
/// If `true`, use [`Self::restitution`].
pub fn is_bouncy(&self) -> bool {
let is_new = self.warmstart_impulse == 0.0;
if is_new {
if self.is_new {
// Treat new collisions as bouncing at first, unless we have zero restitution.
self.restitution > 0.0
} else {
@@ -222,9 +205,7 @@ impl ContactManifoldData {
Self {
rigid_body1,
rigid_body2,
warmstart_multiplier: Self::min_warmstart_multiplier(),
constraint_index: 0,
position_constraint_index: 0,
solver_flags,
normal: Vector::zeros(),
solver_contacts: Vec::new(),
@@ -239,34 +220,4 @@ impl ContactManifoldData {
pub fn num_active_contacts(&self) -> usize {
self.solver_contacts.len()
}
pub(crate) fn min_warmstart_multiplier() -> Real {
// Multiplier used to reduce the amount of warm-starting.
// This coefficient increases exponentially over time, until it reaches 1.0.
// This will reduce significant overshoot at the timesteps that
// follow a timestep involving high-velocity impacts.
1.0 // 0.01
}
// pub(crate) fn update_warmstart_multiplier(manifold: &mut ContactManifold) {
// // In 2D, tall stacks will actually suffer from this
// // because oscillation due to inaccuracies in 2D often
// // cause contacts to break, which would result in
// // a reset of the warmstart multiplier.
// if cfg!(feature = "dim2") {
// manifold.data.warmstart_multiplier = 1.0;
// return;
// }
//
// for pt in &manifold.points {
// if pt.data.impulse != 0.0 {
// manifold.data.warmstart_multiplier =
// (manifold.data.warmstart_multiplier * 2.0).min(1.0);
// return;
// }
// }
//
// // Reset the multiplier.
// manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
// }
}

6
src/geometry/narrow_phase.rs
View File

@@ -968,9 +968,7 @@ impl NarrowPhase {
friction,
restitution,
tangent_velocity: Vector::zeros(),
warmstart_impulse: contact.data.impulse,
warmstart_tangent_impulse: contact.data.tangent_impulse,
prev_rhs: contact.data.rhs,
is_new: contact.data.impulse == 0.0,
};
manifold.data.solver_contacts.push(solver_contact);
@@ -1027,7 +1025,7 @@ impl NarrowPhase {
}
/// Retrieve all the interactions with at least one contact point, happening between two active bodies.
// NOTE: this is very similar to the code from JointSet::select_active_interactions.
// NOTE: this is very similar to the code from ImpulseJointSet::select_active_interactions.
pub(crate) fn select_active_contacts<'a, Bodies>(
&'a mut self,
islands: &IslandManager,